Color and Depth Image Mapping

#1

Hello!

I am working on mapping depth and color with Realsenese D435 camera.
Camera rotate 90 degree.

My project need map color image to depth image.

“DepthProvider.Depth2ColorRegistration” is NOT good for my project, because depth camera fov is higher than color camera.

When I set SetConfigValue(“DepthProvider.Depth2ColorRegistration”, “true”);
Left , Depth frame can’t take full body

Set “Depth2ColorRegistration” false
Right,Depth frame can take full body

image
image914×769 90.6 KB

Because map depth to color, depth does’t have full body,So skeleton will incorrect.
I want keep depth higher fov for good skeleton and mapping color to depth.

I found Realsense SDK ,there is a align method. Can map color to depth,or map depth to color.


But I can’t use realsense sdk, realsense sdk will confilct with nuitrack.

So I want map color to depth,do you have any good advices?

Thanks~

#2

Unfortunately, Nuitrack does not provide color-to-depth mapping. We will add this feature in future versions.

#3

Sorry
Can I know, what the version will add this feature?

Another question, do you have a API that correspond depth coordinate to color coordinate?
So come,I can remove background from person by myself.

Thank you !

#4

Hi @jack,

our team will add this feature in one of the nearest releases.

Another question, do you have a API that correspond depth coordinate to color coordinate?

No, there is no such method in the Nuitrack API. You have to enable registration (Depth2ColorRegistration is supported at this moment) and coordinate systems of both streams will coincide.